Efficient Redundancy Control of Redundant Manipulators.
نویسندگان
چکیده
منابع مشابه
Impedance Control of Redundant Manipulators
This thesis presents research work related to the impedance control of redundant manipulators. The main goal is to study the effects of redundancy on the dynamic behaviour of manipulators. Firstly, theoretical developments related to redundancy, dynamics and impedance control are presented in general form without restriction to any particular manipulator. The purpose is to keep the findings use...
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The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...
متن کاملAnalysis and Control of Redundant Parallel Manipulators
As we all know, singularity is commonly encountered in parallel mechanisms. It is shown that the behavior of singularity of parallel mechanisms could be more complicated than that of serial ones. However, it is not very clear whether singularity will bring problems to kinematics, dynamics or other characteristics and what result will be caused when parallel mechanisms fall into the neighborhood...
متن کاملInverse Kinematics Resolution of Redundant Cooperative Manipulators Using Optimal Control Theory
The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...
متن کاملMulti-point impedance control for redundant manipulators
This paper proposes an impedance control method called the multi-point impedance control (MPIC) for redundant manipulators. The method can not only control end-effector impedance, but also regulate impedances of several points on the links of the manipulator, which are called virtual end-point impedances, utilizing arm redundancy. Two approaches for realizing the MPIC are presented. In the firs...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1996
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.14.703